4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-146
POSING
VELO
The motion command immediately switches to the VELO command, and
the control mode switches from position control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
Precautions
After switching to VELO, the VELO command operates without the acceler-
ation/deceleration filter. To enable the acceleration/deceleration filter, hold
the POSING operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
execute the VELO command.
TRQ
The motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
PHASE
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
EX_FEED Same as for the FEED command.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
POSING
POSING VELO
POSING VELO
VELO
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter is
disabled.
Canceled part of
POSING operation
Motion command
Motion command
response
Position Control Mode
Speed Control Mode
POSING
POSING TRQ
POSING TRQ
TRQ
The reference value of the TRQ command
is output regardless of the current speed
when the command is switched.
Canceled part of
POSING operation
Motion command
Motion command
response
Position Control Mode
Torque Control Mode
POSING PHASE
POSING PHASE
POSING PHASE
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.
Canceled part of
POSING operation
Motion command
Motion command
response
Position Control Mode Phase Control Mode
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